/**
 * @file SlipMonitor.h
 * @author  
 * @brief 打滑检测
 * @version 1.0
 * @date 2020-07-23
 * 
 * @copyright Copyright (c) 2020
 * 
 */

#pragma once
#include "data_struct/base/DataSet.h"

namespace behavior_controller
{
    class SlipMonitor
    {
        public:
            SlipMonitor(){};

            void run();

        public:
            PointF last_odom_pose;
            PointF last_robot_pose;
            double last_odom_raw_angle;
            double last_robot_raw_angle;
            double last_time=0;
    };
    //static 
    extern SlipMonitor slip_monitor;// 对象
} 
